Publications
DEPARTMENTS
Emperical Interference
Haptic Intelligence
Modern Magnetic Systems
Perceiving Systems
Physical Intelligence
Robotic Materials
Social Foundations of Computation
Research Groups
Autonomous Vision
Autonomous Learning
Bioinspired Autonomous Miniature Robots
Dynamic Locomotion
Embodied Vision
Human Aspects of Machine Learning
Intelligent Control Systems
Learning and Dynamical Systems
Locomotion in Biorobotic and Somatic Systems
Micro, Nano, and Molecular Systems
Movement Generation and Control
Neural Capture and Synthesis
Physics for Inference and Optimization
Organizational Leadership and Diversity
Probabilistic Learning Group
Topics
Robot Learning
Conference Paper
2022
Autonomous Learning
Robotics
AI
Career
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Movement Generation and Control
Conference Paper
A unified framework for walking and running of bipedal robots
Boroujeni, M. G., Daneshmand, E., Righetti, L., Khadiv, M.
20th International Conference on Advanced Robotics (ICAR), December 2021, Accepted (Accepted)
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Movement Generation and Control
Article
Robust walking based on MPC with viability guarantees
Yeganegi, M. H., Khadiv, M., Prete, A. D., Moosavian, S. A. A., Righetti, L.
IEEE Transactions on Robotics, October 2021, Accepted (Accepted)
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Empirical Inference
Software Workshop
Movement Generation and Control
Article
The o80 C++ templated toolbox: Designing customized Python APIs for synchronizing realtime processes
Berenz, V., Naveau, M., Widmaier, F., Wüthrich, M., Passy, J., Guist, S., Büchler, D.
Journal of Open Source Software, 6(66), October 2021 (Published)
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Movement Generation and Control
Conference Paper
Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent
Shah, P., Meduri, A., Merkt, W., Khadiv, M., Havoutis, I., Righetti, L.
In Proceedings of the International Conference on Intelligent Robots and Systems (IROS 2021) , IEEE, 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021) in Prague, Czech Republic., September 2021, Accepted (Accepted)
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Movement Generation and Control
Article
Impedance Optimization for Uncertain Contact Interactions Through Risk Sensitive Optimal Control
Hammoud, B., Khadiv, M., Righetti, L.
IEEE Robotics and Automation Letters, Robotics and Automation Letters, 6(3):4766-4773, IEEE, July 2021 (Published)
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Movement Generation and Control
Conference Paper
Stochastic and robust mpc for bipedal locomotion: A comparative study on robustness and performance
Gazar, A., Khadiv, M., DelPrete, A., Righetti, L.
:1-8, IEEE, IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids), July 2021 (Published)
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Movement Generation and Control
Conference Paper
DeepQ Stepper: A framework for reactive dynamic walking on uneven terrain
Meduri, A., Khadiv, M., Righetti, L.
The 2021 International Conference on Robotics and Automation (ICRA 2021), June 2021 (Published)
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Movement Generation and Control
Conference Paper
High-frequency nonlinear model predictive control of a manipulator
Kleff, S., Meduri, A., Budhiraja, R., Mansard, N., Righetti, L.
In 2021 IEEE International Conference on Robotics and Automation (ICRA), :7330-7336 , The 2021 International Conference on Robotics and Automation (ICRA 2021), June 2021 (Published)
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Movement Generation and Control
Conference Paper
Learning a Centroidal Motion Planner for Legged Locomotion
Viereck, J., Righetti, L.
2021 IEEE International Conference on Robotics and Automation (ICRA), :4905-4911 , IEEE, The 2021 International Conference on Robotics and Automation (ICRA 2021), June 2021 (Published)
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Movement Generation and Control
Conference Paper
Leveraging Forward Model Prediction Error for Learning Control
Bechtle, S., Hammoud, B., Rai, A., Meier, F., Righetti, L.
2021 IEEE International Conference on Robotics and Automation (ICRA) , :4445-4451 , IEEE International Conference on Robotics and Automation (ICRA 2021), June 2021 (Published)
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Movement Generation and Control
Article
Variable Horizon MPC with Swing Foot Dynamics for Bipedal Walking Control
Daneshmand, E., Khadiv, M., Grimminger, F., Righetti, L.
IEEE Robotics and Automation Letters, 6(2):2349-2356, April 2021 (Published)
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Movement Generation and Control
Article
Efficient Multi-Contact Pattern Generation with Sequential Convex Approximations of the Centroidal Dynamics
Ponton, B., Khadiv, M., Meduri, A., Righetti, L.
IEEE Transactions on Robotics, 37(5):1661-1679, IEEE, February 2021 (Published)
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Intelligent Control Systems
Movement Generation and Control
Probabilistic Numerics
Empirical Inference
Article
Robot Learning with Crash Constraints
Marco, A., Baumann, D., Khadiv, M., Hennig, P., Righetti, L., Trimpe, S.
IEEE Robotics and Automation Letters, 6(2):1439-1446, IEEE, February 2021 (Published)
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Movement Generation and Control
Conference Paper
Meta-Learning via Learned Loss
Bechtle, S., Molchanov, A., Chebotar, Y., Grefenstette, E., Righetti, L., Sukhatme, G., Meier, F.
In 2020 25th International Conference on Pattern Recognition (ICPR), IEEE, January 2021 (Published)
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Movement Generation and Control
Article
Reactive Balance Control for Legged Robots under Visco-Elastic Contacts
Flayols, T., Prete, A. D., Khadiv, M., Mansard, N., Righetti, L.
Applied Sciences, 11(1), MDPI, 2021 (Published)
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Movement Generation and Control
Article
Jerk Control of Floating Base Systems With Contact-Stable Parameterized Force Feedback
Gazar, A., Nava, G., Chavez, F. J. A., Pucci, D.
IEEE Transactions on Robotics, 37(1):1-15, IEEE, 2021 (Published)
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Movement Generation and Control
Book Chapter
Momentum-Centered Control of Contact Interactions
Righetti, L., Herzog, A.
In Geometric and Numerical Foundations of Movements, 117:339-359, Springer Tracts in Advanced Robotics, Springer, Cham, 2017 ()
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Movement Generation and Control
Conference Paper
Pattern Generation for Walking on Slippery Terrains
Khadiv, M., Moosavian, S. A. A., Herzog, A., Righetti, L.
In 2017 5th International Conference on Robotics and Mechatronics (ICROM), Iran, August 2017 ()
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Movement Generation and Control
Conference Paper
Operating system support for interface virtualisation of reconfigurable coprocessors
Vuletic, M., Righetti, L., Pozzi, L., Ienne, P.
In In Proceedings of the Design, Automation and Test in Europe Conference and Exhibition, :748-749, IEEE, Paris, France, 2004 ()
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